Agent Class Reference

#include <agent.h>

Inheritance diagram for Agent:

[legend]Collaboration diagram for Agent:

[legend]List of all members.

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Detailed Description

Object containing controller, robot and wiring between them.

(Corresponding to use of the word in the robotic/simulation domain.)

Definition at line 127 of file agent.h.

Public Member Functions
	Agent (const PlotOption &plotOption)
	constructor
	Agent (const list< PlotOption > &plotOptions)
virtual	~Agent ()
	destructor
virtual bool	init (AbstractController *controller, AbstractRobot *robot, AbstractWiring *wiring)
	initializes the object with the given controller, robot and wiring and initializes pipe to guilogger
virtual void	step (double noise)
	Performs an step of the agent, including sensor reading, pushing sensor values through wiring, controller step, pushing controller outputs (= motorcommands) back through wiring and sent resulting motorcommands to robot.
virtual AbstractController *	getController ()
	Returns a pointer to the controller.
virtual AbstractRobot *	getRobot ()
	Returns a pointer to the robot.
virtual AbstractWiring *	getWiring ()
	Returns a pointer to the wiring.
virtual void	setTrackOptions (const TrackRobot &trackrobot)
	sets the trackoptions which enable tracking of a robot
Protected Member Functions
virtual void	plot (const sensor *rx, int rsensornumber, const sensor *cx, int csensornumber, const motor *y, int motornumber)
	Plots controller sensor- and motorvalues and internal controller parameters.
void	internInit ()
Protected Attributes
AbstractController *	controller
AbstractRobot *	robot
AbstractWiring *	wiring
int	rsensornumber
	number of sensors of robot
int	rmotornumber
	number of motors of robot
int	csensornumber
	number of sensors of comntroller
int	cmotornumber
	number of motors of comntroller
sensor *	rsensors
motor *	rmotors
sensor *	csensors
motor *	cmotors
TrackRobot	trackrobot

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Constructor & Destructor Documentation

Agent (  const PlotOption &  plotOption  )

constructor Definition at line 98 of file agent.cpp.

Agent (  const list< PlotOption > &  plotOptions  )

Definition at line 104 of file agent.cpp.

~Agent (   )  [virtual]

destructor Definition at line 120 of file agent.cpp.

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Member Function Documentation

virtual AbstractController* getController (   )  [inline, virtual]

Returns a pointer to the controller. Definition at line 153 of file agent.h.

virtual AbstractRobot* getRobot (   )  [inline, virtual]

Returns a pointer to the robot. Reimplemented in OdeAgent. Definition at line 157 of file agent.h.

virtual AbstractWiring* getWiring (   )  [inline, virtual]

Returns a pointer to the wiring. Definition at line 161 of file agent.h.

bool init (  AbstractController *  controller, AbstractRobot *  robot, AbstractWiring *  wiring )  [virtual]

initializes the object with the given controller, robot and wiring and initializes pipe to guilogger Definition at line 134 of file agent.cpp.

void internInit (   )  [protected]

Reimplemented in OdeAgent. Definition at line 109 of file agent.cpp.

void plot (  const sensor *  rx, int  rsensornumber, const sensor *  cx, int  csensornumber, const motor *  y, int  motornumber )  [protected, virtual]

Plots controller sensor- and motorvalues and internal controller parameters. Parameters: rx  actual sensorvalues from robot (used for generation of motorcommand in actual timestep) cx  actual sensorvalues which are passed to controller (used for generation of motorcommand in actual timestep) y  actual motorcommand (generated in the actual timestep) Definition at line 201 of file agent.cpp.

void setTrackOptions (  const TrackRobot &  trackrobot  )  [virtual]

sets the trackoptions which enable tracking of a robot Definition at line 252 of file agent.cpp.

void step (  double  noise  )  [virtual]

Performs an step of the agent, including sensor reading, pushing sensor values through wiring, controller step, pushing controller outputs (= motorcommands) back through wiring and sent resulting motorcommands to robot. Parameters: noise  Noise strength. Reimplemented in OdeAgent. Definition at line 224 of file agent.cpp.

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Member Data Documentation

int cmotornumber [protected]

number of motors of comntroller Definition at line 189 of file agent.h.

motor* cmotors [protected]

Definition at line 194 of file agent.h.

AbstractController* controller [protected]

Definition at line 178 of file agent.h.

int csensornumber [protected]

number of sensors of comntroller Definition at line 187 of file agent.h.

sensor* csensors [protected]

Definition at line 193 of file agent.h.

int rmotornumber [protected]

number of motors of robot Definition at line 185 of file agent.h.

motor* rmotors [protected]

Definition at line 192 of file agent.h.

AbstractRobot* robot [protected]

Definition at line 179 of file agent.h.

int rsensornumber [protected]

number of sensors of robot Definition at line 183 of file agent.h.

sensor* rsensors [protected]

Definition at line 191 of file agent.h.

TrackRobot trackrobot [protected]

Definition at line 199 of file agent.h.

AbstractWiring* wiring [protected]

Definition at line 180 of file agent.h.

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